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1. 发明申请

US20060071625A1 Robot arm control method and control device 有权
标题翻译：机器人手臂控制方法和控制装置
公开(公告)号：US20060071625A1
公开(公告)日：2006-04-06
申请号：US10546712
申请日：2004-07-02
申请人： Hiroyuki Nakata , Naoto Masunaga , Atsumi Hashimoto , Yasushi Mukai
发明人： Hiroyuki Nakata , Naoto Masunaga , Atsumi Hashimoto , Yasushi Mukai
IPC分类号： B25J5/00
CPC分类号： G05B19/4061 , B25J9/1633 , B25J9/1676 , G05B2219/39355 , G05B2219/40226 , G05B2219/42288
摘要： When either a command value or an actually measured value is appropriately selected as an angular velocity used for the frictional torque calculation, the frictional compensation can be made valid at all times in both the case in which a robot is actively operated according to an angular velocity command and the case in which the robot is passively operated being pushed by an external force. In the case where a motor rotating direction and a collision direction are reverse to each other after a collision has been detected, the control mode is switched from the positional control to the electric current control and a torque, the direction of which is reverse to the direction of the motor rotation is generated by the motor, so that the motor rotating speed can be reduced and the collision energy can be alleviated. After that, when the motor rotating speed is reduced to a value not more than the setting value, the control mode is switched to the compliance control and the distortion caused in a reduction gear is dissolved. On the other hand, in the case where the motor rotating direction and the collision direction are the same, the control mode is directly switched from the positional control to the compliance control without passing through the electric current control. When the robot is operated whole following a collision force, the collision force can be alleviated.
摘要翻译：当将命令值或实际测量值适当地选择为用于摩擦力矩计算的角速度时，可以在机器人根据角速度主动操作的情况下始终使摩擦补偿始终有效通过外力推动机器人被动地操作的情况。在检测到碰撞之后电动机旋转方向和碰撞方向相反的情况下，控制模式从位置控制切换到电流控制，转向与由电动机产生电动机旋转的方向，从而能够减小电动机的转速，能够缓和碰撞能量。此后，当电动机转速降低到不大于设定值的值时，控制模式切换到顺从控制，并且在减速装置中引起的变形被解除。另一方面，在电动机旋转方向和碰撞方向相同的情况下，控制模式从位置控制直接切换到柔性控制，而不经过电流控制。当机器人在碰撞力之后整体运行时，可以减轻碰撞力。

2. 发明授权

US07102315B2 Robot arm control method and control device 有权
公开(公告)号：US07102315B2
公开(公告)日：2006-09-05
申请号：US10546712
申请日：2004-07-02
申请人： Hiroyuki Nakata , Naoto Masunaga , Atsumi Hashimoto , Yasushi Mukai
发明人： Hiroyuki Nakata , Naoto Masunaga , Atsumi Hashimoto , Yasushi Mukai
IPC分类号： G05B6/02 , B25J13/00
CPC分类号： G05B19/4061 , B25J9/1633 , B25J9/1676 , G05B2219/39355 , G05B2219/40226 , G05B2219/42288
摘要： When either a command value or an actually measured value is appropriately selected as an angular velocity used for the frictional torque calculation, the frictional compensation can be made valid at all times in both the case in which a robot is actively operated according to an angular velocity command and the case in which the robot is passively operated being pushed by an external force. In the case where a motor rotating direction and a collision direction are reverse to each other after a collision has been detected, the control mode is switched from the positional control to the electric current control and a torque, the direction of which is reverse to the direction of the motor rotation is generated by the motor, so that the motor rotating speed can be reduced and the collision energy can be alleviated. After that, when the motor rotating speed is reduced to a value not more than the setting value, the control mode is switched to the compliance control and the distortion caused in a reduction gear is dissolved. On the other hand, in the case where the motor rotating direction and the collision direction are the same, the control mode is directly switched from the positional control to the compliance control without passing through the electric current control. When the robot is operated whole following a collision force, the collision force can be alleviated.

3. 发明申请

US20070119841A1 Welding system and consumable electrode welding method 有权
标题翻译：焊接系统和消耗电极焊接方法
公开(公告)号：US20070119841A1
公开(公告)日：2007-05-31
申请号：US10582563
申请日：2005-10-18
申请人： Hiroyuki Nakata , Yasushi Mukai , Tatsuya Ikeda , Naoto Masunaga , Masaru Kowa , Yasuyoshi Honuchi
发明人： Hiroyuki Nakata , Yasushi Mukai , Tatsuya Ikeda , Naoto Masunaga , Masaru Kowa , Yasuyoshi Honuchi
IPC分类号： B23K9/10
CPC分类号： B23K9/0671 , B23K9/125 , B23K9/126
摘要： A torch is moved by a manipulator in a direction separating from a base material 7 while a wire is supplied, whereby an actuator driving the robot manipulator can control a velocity of the wire for a workpiece by a unidirectional operation of separating the torch, and vibration due to reverse of torch velocity is not generated. Further, by using a dedicated separation control system, velocity follow-up performance of the actuator moving the torch can be heightened without increasing overshoot in the usual operation time, and the acceleration and deceleration time of the manipulator can be reduced.
摘要翻译：在供给电线的同时，通过机械手在与基材7分离的方向上移动手电筒，由此驱动机器人操纵器的致动器可以通过分离割炬的单向操作来控制工件的线的速度，并且振动由于反转不能产生割炬速度。此外，通过使用专用的分离控制系统，可以提高移动割炬的致动器的速度跟随性能，而不会在通常的操作时间内增加过冲，并且可以减小操纵器的加速和减速时间。

4. 发明授权

US07842904B2 Welding system and consumable electrode welding method 有权
标题翻译：焊接系统和消耗电极焊接方法
公开(公告)号：US07842904B2
公开(公告)日：2010-11-30
申请号：US10582563
申请日：2005-10-18
申请人： Hiroyuki Nakata , Yasushi Mukai , Tatsuya Ikeda , Naoto Masunaga , Masaru Kowa , Yasuyoshi Honuchi
发明人： Hiroyuki Nakata , Yasushi Mukai , Tatsuya Ikeda , Naoto Masunaga , Masaru Kowa , Yasuyoshi Honuchi
IPC分类号： B23K9/10 , B23K9/06
CPC分类号： B23K9/0671 , B23K9/125 , B23K9/126
摘要： A torch is moved by a manipulator in a direction separating from a base material 7 while a wire is supplied, whereby an actuator driving the robot manipulator can control a velocity of the wire for a workpiece by a unidirectional operation of separating the torch, and vibration due to reverse of torch velocity is not generated. Further, by using a dedicated separation control system, velocity follow-up performance of the actuator moving the torch can be heightened without increasing overshoot in the usual operation time, and the acceleration and deceleration time of the manipulator can be reduced.
摘要翻译：在供给电线的同时，通过机械手在与基材7分离的方向上移动手电筒，由此驱动机器人操纵器的致动器可以通过分离割炬的单向操作来控制工件的线的速度，并且振动由于反转不能产生割炬速度。此外，通过使用专用的分离控制系统，可以提高移动割炬的致动器的速度跟随性能，而不会在通常的操作时间内增加过冲，并且可以减小操纵器的加速和减速时间。

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